Integrate GH actions CI/CD pipelines

.devcontainer/Dockerfile

@@ -0,0 +1,94 @@
+ARG ROS_DISTRO=rolling
+
+FROM ros:$ROS_DISTRO as core
+
+LABEL maintainer="Evan Palmer"
+LABEL maintainer-email="[email protected]"
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Install core apt dependencies
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    apt-utils \
+    software-properties-common \
+    git \
+    wget \
+    gnupg2 \
+    lsb-release \
+    && apt-get autoremove -y \
+    && apt-get clean -y \
+    && rm -rf /var/lib/apt/lists/*
+
+# Install core ROS dependencies
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    ros-$ROS_DISTRO-robot-state-publisher \
+    ros-$ROS_DISTRO-xacro \
+    ros-$ROS_DISTRO-ros2-control \
+    ros-$ROS_DISTRO-ros2-controllers \
+    ros-$ROS_DISTRO-controller-manager \
+    && apt-get autoremove -y \
+    && apt-get clean -y \
+    && rm -rf /var/lib/apt/lists/*
+
+FROM core as ci
+
+# Install CI apt dependencies
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    clang-format \
+    python3-dev \
+    python3-pip \
+    && apt-get autoremove -y \
+    && apt-get clean -y \
+    && rm -rf /var/lib/apt/lists/*
+
+# Install debugging/linting Python packages
+RUN pip3 install \
+    black \
+    flake8 \
+    isort \
+    pydocstyle \
+    pre-commit \
+    mypy
+
+FROM ci as base
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    ros-$ROS_DISTRO-rviz2 \
+    ros-dev-tools \
+    ros-$ROS_DISTRO-moveit \
+    ros-$ROS_DISTRO-gazebo-ros-pkgs \
+    ros-$ROS_DISTRO-gazebo-ros2-control \
+    && apt-get autoremove -y \
+    && apt-get clean -y \
+    && rm -rf /var/lib/apt/lists/*
+
+FROM base as develop
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    iputils-ping \
+    net-tools \
+    lsb-release \
+    gdb \
+    && apt-get autoremove -y \
+    && apt-get clean -y \
+    && rm -rf /var/lib/apt/lists/*
+
+# Configure a new non-root user
+ARG USERNAME=dev
+ARG USER_UID=1000
+ARG USER_GID=$USER_UID
+
+RUN groupadd --gid $USER_GID $USERNAME \
+    && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
+    && apt-get update \
+    && apt-get install -y sudo \
+    && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
+    && chmod 0440 /etc/sudoers.d/$USERNAME \
+    && rm -rf /var/lib/apt/lists/* \
+    && echo "source /usr/share/bash-completion/completions/git" >> /home/$USERNAME/.bashrc \
+    && echo "if [ -f /opt/ros/${ROS_DISTRO}/setup.bash ]; then source /opt/ros/${ROS_DISTRO}/setup.bash; fi" >> /home/$USERNAME/.bashrc
+
+ARG WORKSPACE
+RUN echo "if [ -f ${WORKSPACE}/install/setup.bash ]; then source ${WORKSPACE}/install/setup.bash; fi" >> /home/$USERNAME/.bashrc
+RUN echo "export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:${WORKSPACE}/" >> /home/$USERNAME/.bashrc
+RUN echo "source /usr/share/gazebo/setup.sh" >> /home/$USERNAME/.bashrc

.devcontainer/devcontainer.json

@@ -1,8 +1,9 @@
 {
-  "dockerFile": "../.docker/Dockerfile",
+  "dockerFile": "Dockerfile",
   "build": {
     "args": {
-      "WORKSPACE": "${containerWorkspaceFolder}"
+      "WORKSPACE": "${containerWorkspaceFolder}",
+      "ROS_DISTRO": "humble"
     }
   },
   "remoteUser": "dev",

.docker/Dockerfile

@@ -1,77 +1,56 @@
-FROM ros:humble as base
+ARG ROS_DISTRO=rolling
+FROM ros:$ROS_DISTRO-ros-base as ci
 
 LABEL maintainer="Evan Palmer"
 LABEL maintainer-email="[email protected]"
-LABEL license="MIT"
 
-ENV DEBIAN_FRONTEND=noninteractive
+WORKDIR /root/ws_alpha
 
-# Install general apt dependencies
+COPY . src/alpha
+
+# Install the core apt packages
 RUN apt-get update && apt-get install -y --no-install-recommends \
-    apt-utils \
-    software-properties-common \
     git \
     wget \
-    gnupg2 \
-    lsb-release \
+    curl \
+    sudo \
+    clang \
+    clang-format-14 \
+    clang-tidy \
+    clang-tools \
     && apt-get autoremove -y \
     && apt-get clean -y \
     && rm -rf /var/lib/apt/lists/*
 
-# Install required ROS dependencies
-RUN apt-get update && apt-get install -y --no-install-recommends \
-    ros-humble-rviz2 \
-    ros-dev-tools \
-    ros-humble-moveit \
-    ros-humble-robot-state-publisher \
-    ros-humble-xacro \
-    ros-humble-ros2-control \
-    ros-humble-ros2-controllers \
-    ros-humble-controller-manager \
-    ros-humble-gazebo-ros-pkgs \
-    ros-humble-gazebo-ros2-control \
+# Install the alpha driver dependencies
+RUN apt-get update \
+    && rosdep update \
+    && DEBIAN_FRONTEND=noninteractive \
+    rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false \
+    && rm -rf src \
     && apt-get autoremove -y \
     && apt-get clean -y \
     && rm -rf /var/lib/apt/lists/*
 
-FROM base as develop
+FROM ci as source
 
-RUN apt-get update && apt-get install -y --no-install-recommends \
-    iputils-ping \
-    net-tools \
-    lsb-release \
-    gdb \
-    clang-format \
-    python3-dev \
-    python3-pip \
+ENV ROS_UNDERLAY /root/ws_alpha/install
+WORKDIR $ROS_UNDERLAY/..
+
+COPY . src/alpha
+
+RUN apt-get update \
+    && rosdep update \
+    && DEBIAN_FRONTEND=noninteractive \
+    rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false \
     && apt-get autoremove -y \
     && apt-get clean -y \
     && rm -rf /var/lib/apt/lists/*
 
-# Install debugging/linting Python packages
-RUN pip3 install \
-    black \
-    flake8 \
-    isort \
-    pydocstyle \
-    mypy
-
-# Configure a new non-root user
-ARG USERNAME=dev
-ARG USER_UID=1000
-ARG USER_GID=$USER_UID
-
-RUN groupadd --gid $USER_GID $USERNAME \
-    && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
-    && apt-get update \
-    && apt-get install -y sudo \
-    && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
-    && chmod 0440 /etc/sudoers.d/$USERNAME \
-    && rm -rf /var/lib/apt/lists/* \
-    && echo "source /usr/share/bash-completion/completions/git" >> /home/$USERNAME/.bashrc \
-    && echo "if [ -f /opt/ros/${ROS_DISTRO}/setup.bash ]; then source /opt/ros/${ROS_DISTRO}/setup.bash; fi" >> /home/$USERNAME/.bashrc
-
-ARG WORKSPACE
-RUN echo "if [ -f ${WORKSPACE}/install/setup.bash ]; then source ${WORKSPACE}/install/setup.bash; fi" >> /home/$USERNAME/.bashrc
-RUN echo "export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:${WORKSPACE}/" >> /home/$USERNAME/.bashrc
-RUN echo "source /usr/share/gazebo/setup.sh" >> /home/$USERNAME/.bashrc
+RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" \
+    && colcon build \
+    --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \
+    --ament-cmake-args -DCMAKE_BUILD_TYPE=Release \
+    --event-handlers desktop_notification- status- \
+    # Update /ros_entrypoint.sh to source the new workspace
+    && sed -i "s#/opt/ros/\$ROS_DISTRO/setup.bash#$ROS_UNDERLAY/setup.sh#g" /ros_entrypoint.sh

.dockerignore

@@ -0,0 +1,8 @@
+# ignore everything
+*
+
+# except the following
+!alpha_bringup
+!alpha_description
+!alpha_driver
+!alpha_hardware

.github/workflows/ci.yaml

@@ -0,0 +1,45 @@
+name: Continuous Integration
+
+on:
+  push:
+    branches:
+      - main
+  workflow_dispatch:
+
+env:
+  CLANG_TIDY: true
+
+jobs:
+  test:
+    name: Test Implementation
+    runs-on: ubuntu-latest
+
+    strategy:
+      fail-fast: false
+      matrix:
+        env:
+          - IMAGE: rolling-ci
+            ROS_DISTRO: rolling
+          - IMAGE: humble-ci
+            ROS_DISTRO: humble
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v3
+        with:
+          submodules: recursive
+
+      - name: Log into registry
+        uses: docker/[email protected]
+        with:
+          registry: ghcr.io
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Run ROS Industrial CI
+        uses: ros-industrial/industrial_ci@master
+        env:
+          DOCKER_IMAGE: ghcr.io/evan-palmer/alpha:${{ matrix.env.IMAGE }}
+          CXXFLAGS: >-
+            -Wall -Wextra -Wpedantic -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls
+          CC: ${{ env.CLANG_TIDY && 'clang' }}
+          CXX: ${{ env.CLANG_TIDY && 'clang++' }}

.github/workflows/docker.yaml

@@ -0,0 +1,99 @@
+name: Docker
+
+on:
+  schedule:
+    - cron: "0 17 * * 6"
+  push:
+    branches:
+      - main
+  pull_request:
+    paths:
+      - .docker/**
+      - .github/workflows/docker.yaml
+  workflow_dispatch:
+
+env:
+  PUSH: ${{ (github.event_name != 'pull_request') && (github.repository == 'evan-palmer/alpha') }}
+
+jobs:
+  ci:
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [humble, rolling]
+    runs-on: ubuntu-latest
+    permissions:
+      packages: write
+      contents: read
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v3
+
+      - name: Log into registry
+        if: env.PUSH == 'true'
+        uses: docker/[email protected]
+        with:
+          registry: ghcr.io
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Extract Docker metadata
+        if: env.PUSH == 'true'
+        id: meta
+        uses: docker/[email protected]
+        with:
+          images: ghcr.io/${{ github.repository }}
+          tags: |
+            type=raw,value=${{ matrix.ROS_DISTRO }}-${{ github.job }}
+
+      - name: Build and push Docker image
+        uses: docker/[email protected]
+        with:
+          context: .
+          file: .docker/Dockerfile
+          build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }}
+          target: ${{ github.job }}
+          tags: ${{ steps.meta.outputs.tags }}
+          labels: ${{ steps.meta.outputs.labels }}
+          push: ${{ env.PUSH }}
+
+  source:
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [humble, rolling]
+    runs-on: ubuntu-latest
+    permissions:
+      packages: write
+      contents: read
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v3
+
+      - name: Log into registry
+        if: env.PUSH == 'true'
+        uses: docker/[email protected]
+        with:
+          registry: ghcr.io
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Extract Docker metadata
+        if: env.PUSH == 'true'
+        id: meta
+        uses: docker/[email protected]
+        with:
+          images: ghcr.io/${{ github.repository }}
+          tags: |
+            type=raw,value=${{ matrix.ROS_DISTRO }}-${{ github.job }}
+
+      - name: Build and push Docker image
+        uses: docker/[email protected]
+        with:
+          context: .
+          file: .docker/Dockerfile
+          build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }}
+          target: ${{ github.job }}
+          tags: ${{ steps.meta.outputs.tags }}
+          labels: ${{ steps.meta.outputs.labels }}
+          push: ${{ env.PUSH }}